CN210404550U - Inspection robot and inspection system - Google Patents
Inspection robot and inspection system Download PDFInfo
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- CN210404550U CN210404550U CN201921446690.8U CN201921446690U CN210404550U CN 210404550 U CN210404550 U CN 210404550U CN 201921446690 U CN201921446690 U CN 201921446690U CN 210404550 U CN210404550 U CN 210404550U
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Abstract
The utility model provides a patrol and examine robot and system of patrolling and examining relates to the robot technical field of patrolling and examining. The inspection robot comprises an inspection robot body and a navigation camera; the robot body comprises a shell, a control circuit board, two walking assemblies and inspection cameras, wherein the control circuit board is arranged in the shell, the inspection cameras are respectively arranged on two sides of the shell, the inspection cameras are electrically connected with the control circuit board, and the walking assemblies are arranged in the shell and used for moving along cables; the navigation camera is arranged at one end of the shell and is electrically connected with the control circuit board, the navigation camera inclines upwards relative to the advancing direction of the robot body, and the inclined angle range is 10-30 degrees. The utility model provides a patrol and examine robot and system of patrolling and examining can effectively avoid the background interference of distal end, is favorable to patrolling and examining the route planning of robot.
Description
Technical Field
The utility model relates to an inspection robot technical field particularly, relates to an inspection robot and system of patrolling and examining.
Background
The inspection robot is mainly used for replacing manpower to inspect cables, and the inspection route needs to be planned when the robot operates. When the existing inspection robot collects image information for navigation, the imaging of a camera can be interfered by a remote background, so that the image is inaccurate, and the navigation planning error is larger.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing an inspection robot and system of patrolling and examining, its simple structure, the background that can effectively avoid the distal end disturb, be favorable to patrolling and examining the route planning of robot.
The embodiment of the utility model discloses a can realize like this:
in a first aspect, the embodiment of the utility model provides an inspection robot,
an inspection robot is used for inspecting cables and comprises a robot body and a navigation camera; the robot body comprises a shell, a control circuit board, two walking assemblies and inspection cameras, wherein the control circuit board is arranged in the shell, the inspection cameras are respectively arranged on two sides of the shell, the inspection cameras are electrically connected with the control circuit board, and the walking assemblies are arranged on the shell and used for moving along the cables; the navigation camera is arranged at one end of the shell and is electrically connected with the control circuit board, the navigation camera inclines upwards relative to the advancing direction of the robot body, and the inclined angle range is 10-30 degrees.
The utility model provides a patrol and examine robot has following beneficial effect:
further, in an optional embodiment, the navigation camera comprises a camera body and a mounting part, and the camera body is obliquely arranged on the shell through the mounting part and is electrically connected with the control circuit board.
Further, in optional embodiment, the installed part includes first installation department, second installation department, third installation department and the fourth installation department that connects gradually, wherein, first installation department with the fourth installation department be located both ends respectively and all with the casing is connected, the second installation department is relative first installation department slope, the second installation department with this body coupling of camera.
Further, in an optional implementation manner, the first installation part and the second installation part are connected with the casing through bolts, the second installation part is connected with the camera body through bolts, and at least two through holes for the bolts to pass through are formed in the second installation part.
Further, in an alternative embodiment, the extending direction of the second mounting portion is perpendicular to the extending direction of the third mounting portion, and the extending direction of the first mounting portion is the same as the extending direction of the fourth mounting portion.
Further, in an optional implementation manner, the mounting part further includes a fifth mounting part, the fifth mounting part is connected to a joint of the second mounting part and the third mounting part, the second mounting part and the fifth mounting part enclose a cavity for mounting the camera body, and the second mounting part and the fifth mounting part are respectively connected to two adjacent side walls of the camera body.
Further, in an optional implementation manner, the inspection robot further comprises an ultrasonic ranging sensor arranged on the shell, and the ultrasonic ranging sensor and the navigation camera are located at the same end of the shell and electrically connected with the control circuit board.
In a second aspect, the embodiment of the utility model provides an inspection system, which comprises a background control terminal and an inspection robot, wherein the inspection robot comprises a robot body and a navigation camera; the robot body comprises a shell, a control circuit board, two walking assemblies and inspection cameras, wherein the control circuit board is arranged in the shell, the inspection cameras are respectively arranged on two sides of the shell, the inspection cameras are electrically connected with the control circuit board, and the walking assemblies are arranged on the shell and used for moving along the cables; the navigation camera is arranged at one end of the shell and is electrically connected with the control circuit board, the navigation camera inclines upwards relative to the advancing direction of the robot body, the inclined angle range is 10-30 degrees, and the background control terminal is in communication connection with the control circuit board.
The utility model provides an inspection system has following beneficial effect: the navigation camera inclines a certain angle for the running direction of robot body, because the navigation camera sets up that the tilt up, can avoid the background interference in the distance in the visual range of camera to promote the usefulness of gathering the image, and then help promoting the reasonable circuit planning of robot.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments will be briefly described below. It is appreciated that the following drawings depict only certain embodiments of the invention and are therefore not to be considered limiting of its scope. For a person skilled in the art, it is possible to derive other relevant figures from these figures without inventive effort.
Fig. 1 is a schematic structural diagram of the inspection robot according to the embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a navigation camera according to an embodiment of the present invention.
Fig. 3 is a schematic block diagram of a sectional structure of a mounting member according to an embodiment of the present invention.
Fig. 4 is a block diagram illustrating a structure of a mounting member according to an embodiment of the present invention.
Icon: 10-a patrol robot; 11-a robot body; 111-a housing; 113-a walking assembly; 1131 — first walking arm; 1132 — a second walking arm; 114-a polling camera; 12-a navigation camera; 121-a mount; 1211 — a first mounting portion; 1212 — a second mounting portion; 1213-third mount; 1214-a fourth mounting portion; 1215-a fifth mount; 122-camera body; 13-ultrasonic ranging sensor.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, embodiments accompanied with figures are described in detail below.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the drawings in the embodiments of the present invention are combined below to clearly and completely describe the technical solutions in the embodiments of the present invention. It is to be understood that the embodiments described are only some of the embodiments of the present invention, and not all of them. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.
The following describes in detail embodiments of the present invention with reference to the accompanying drawings.
Referring to fig. 1, the present embodiment provides an inspection robot 10, which has a simple structure, can effectively avoid background interference at a far end, and is beneficial to route planning of the inspection robot 10.
It should be noted that, the inspection robot 10 provided in this embodiment is used for inspecting cables, and communicates with a control terminal in the background to implement data transmission and processing.
In the present embodiment, the inspection robot 10 includes a robot body 11 and a navigation camera 12; wherein, robot body 11 is unanimous basically with the current structure that is used for the robot of patrolling and examining the utility model discloses an in the embodiment, increased navigation camera 12 to gather the image that the user navigated, the control terminal of backstage formulates reasonable navigation strategy according to this image.
It should be understood that the specific structure of the robot body 11 may be a housing 111, a control circuit board, a walking assembly 113 and an inspection camera 114 in the prior art. The traveling assembly 113 includes a first traveling arm 1131 and a second traveling arm 1132 which are disposed in front of and behind the housing 111, and one end of the two traveling arms far away from the housing 111 is provided with a rotating wheel mechanism which is matched with the cable. Of course, a wire for connecting the terminal of the navigation camera 12 and connecting both is additionally provided on the control circuit board. Read the image information that the direction camera transmitted and transmit this image information to backstage control terminal's procedure also be the common prior art in this field, the utility model discloses only relate to the structure to the robot that is used for patrolling and examining at present and improve.
The navigation camera 12 is disposed at one end of the housing 111 and electrically connected to the control circuit board, and the navigation camera 12 is inclined upward with respect to the traveling direction of the robot body 11 by an angle (α in fig. 1) ranging from 10 ° to 30 °.
That is to say, in the embodiment of the utility model, navigation camera 12 is for the certain angle of direction of operation slope of robot 11, because navigation camera 12 is the tilt up setting, can avoid falling the background interference in the distance in the visual range of camera to promote the usefulness of gathering the image, and then help promoting the reasonable circuit planning of robot.
It should be noted that the angle of the navigation camera 12 relative to the robot body 11 ranges from 10 ° to 30 °, that is, the angle may have any value within the range, for example, in the embodiment shown in fig. 1, the angle is 15 °, and of course, in other embodiments, other values may also be taken.
Referring to fig. 2, further, in an alternative embodiment, the navigation camera 12 includes a camera body 122 and a mounting member 121, and the camera body 122 is obliquely disposed on the housing 111 through the mounting member 121 and electrically connected to the control circuit board.
The above-mentioned camera body 122 refers to a camera having necessary elements such as a housing, a connecting wire, etc., and the mounting member 121 is used to mount the camera body 122 on the housing 111.
It should be understood that, in general, the housing 111 of the robot body 11 is rectangular, with side plates and the direction of travel: some parallel to each other and some perpendicular to each other. The navigation camera 12 is provided at the front end in the traveling direction, and a side plate of the housing 111 connected thereto is substantially perpendicular to the traveling direction. In fig. 2, an arrow indicated by V indicates a traveling direction of the inspection robot 10.
Further, in an alternative embodiment, the mounting member 121 includes a first mounting portion 1211, a second mounting portion 1212, a third mounting portion 1213, and a fourth mounting portion 1214 that are connected in this order, wherein the first mounting portion 1211 and the fourth mounting portion 1214 are respectively located at both ends and are both connected to the housing 111, the second mounting portion 1212 is inclined with respect to the first mounting portion 1211, and the second mounting portion 1212 is connected to the camera body 122.
The inclination angle of the second mounting portion 1212 with respect to the first mounting portion 1211 is substantially equal to the camera inclination angle described above. Further, the extending direction of the second mounting portion 1212 and the extending direction of the third mounting portion 1213 are perpendicular to each other, and the extending direction of the first mounting portion 1211 and the extending direction of the fourth mounting portion 1214 are the same.
The mounting member 121 may be manufactured by an integral molding process, or may be manufactured by a welding process.
The camera is mounted on the housing 111 through the first mounting portion 1211, the second mounting portion 1212, the third mounting portion 1213 and the fourth mounting portion 1214, so that the mounting stability can be ensured, the camera body 122 is prevented from shaking greatly, the image acquisition quality is improved, and the route planning strategy is also ensured.
Referring to fig. 3, optionally, the first mounting portion 1211 and the second mounting portion 1212 are both connected to the housing 111 through bolts, the second mounting portion 1212 is connected to the camera body 122 through bolts, and the second mounting portion 1212 is provided with at least two through holes for the bolts to pass through. That is to say, camera body 122 is fixed with two bolts at least, two setpoint promptly to guaranteed camera body 122's fixed quality, also guaranteed imaging quality.
Referring to fig. 4, further, in an alternative embodiment, the mounting member 121 further includes a fifth mounting portion 1215, the fifth mounting portion 1215 is connected to a connection portion of the second mounting portion 1212 and the third mounting portion 1213, the second mounting portion 1212 and the fifth mounting portion 1215 define a cavity for mounting the camera head body 122, and the second mounting portion 1212 and the fifth mounting portion 1215 are respectively connected to two adjacent side walls of the camera head body 122.
In the scheme of providing the fifth mounting part 1215, the camera body 122 is fixed in both directions, so that the stress of the camera body 122 is more uniform.
Further, in an alternative embodiment, the inspection robot 10 may further include an ultrasonic ranging sensor 13 disposed on the housing 111, and the ultrasonic ranging sensor 13 and the navigation camera 12 are located at the same end of the housing 111 and electrically connected to the control circuit board.
The ultrasonic ranging sensor 13 is used for detecting distance information between the robot and an obstacle, and transmitting the distance information to the control circuit board and the background control terminal, so that the background control terminal can process the information and optimize the line planning of the robot.
The utility model also provides a system of patrolling and examining, it includes backstage control terminal and patrols and examines robot 10, backstage control terminal and control circuit board communication connection. The background control terminal can be a PC, a server and other equipment for processing data. Of course, the background control terminal also stores a calculation program, which is used to process the data obtained by the navigation camera 12 or the navigation camera 12 and the ultrasonic ranging sensor 13, and can be implemented by using the algorithm for processing image information and the algorithm for processing distance data in the prior art.
Referring to fig. 1 to 4, the inspection robot 10 of the present embodiment: navigation camera 12 is for the certain angle of the traffic direction slope of robot body 11, because navigation camera 12 is the tilt up setting, can avoid the background interference in the distance in the visual range of camera to promote the usefulness of gathering the image, and then help promoting the reasonable circuit planning of robot.
It should be noted that in the description of the present invention, the terms "upper", "lower", "inner", "outer", "left", "right", etc. indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings, or the orientation or position relationship that the product of the present invention is usually placed when in use, or the orientation or position relationship that a person skilled in the art usually understands, only for the convenience of describing the present invention and simplifying the description, but not for indicating or implying that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
It is also noted that, unless expressly stated or limited otherwise, the terms "disposed" and "connected" are used broadly and encompass both fixed and removable connections as well as integral connections; can be mechanically or electrically connected; the connection may be direct or indirect via an intermediate medium, and may be a communication between the two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the scope or spirit of the present invention, and the scope of the present invention is defined by the appended claims.
Claims (8)
1. An inspection robot is used for inspecting cables and is characterized by comprising a robot body and a navigation camera;
the robot body comprises a shell, a control circuit board, two walking assemblies and inspection cameras, wherein the control circuit board is arranged in the shell, the inspection cameras are respectively arranged on two sides of the shell, the inspection cameras are electrically connected with the control circuit board, and the walking assemblies are arranged on the shell and used for moving along the cables;
the navigation camera is arranged at one end of the shell and is electrically connected with the control circuit board, the navigation camera inclines upwards relative to the advancing direction of the robot body, and the inclined angle range is 10-30 degrees.
2. The inspection robot according to claim 1, wherein the navigation camera includes a camera body and a mounting member, the camera body being obliquely disposed to the housing through the mounting member and electrically connected to the control circuit board.
3. The inspection robot according to claim 2, wherein the mounting part comprises a first mounting part, a second mounting part, a third mounting part and a fourth mounting part which are connected in sequence, wherein the first mounting part and the fourth mounting part are respectively positioned at two ends and are connected with the shell, the second mounting part is opposite to the first mounting part, and the second mounting part is connected with the camera body.
4. The inspection robot according to claim 3, wherein the first installation part and the second installation part are connected with the shell through bolts, the second installation part is connected with the camera body through bolts, and at least two through holes for the bolts to pass through are formed in the second installation part.
5. The inspection robot according to claim 3, wherein the extending direction of the second mounting portion is perpendicular to the extending direction of the third mounting portion, and the extending direction of the first mounting portion is the same as the extending direction of the fourth mounting portion.
6. The inspection robot according to any one of claims 3-5, wherein the mounting piece further comprises a fifth mounting portion, the fifth mounting portion is connected with a joint of the second mounting portion and the third mounting portion, the second mounting portion and the fifth mounting portion enclose a cavity for mounting the camera body, and the second mounting portion and the fifth mounting portion are respectively connected with two adjacent side walls of the camera body.
7. The inspection robot according to any one of claims 1-5, further comprising an ultrasonic ranging sensor disposed on the housing, the ultrasonic ranging sensor and the navigation camera being located at the same end of the housing and electrically connected to the control circuit board.
8. An inspection system, characterized by comprising a background control terminal and the inspection robot as claimed in any one of claims 1 to 7, wherein the background control terminal is in communication connection with the control circuit board.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921446690.8U CN210404550U (en) | 2019-09-02 | 2019-09-02 | Inspection robot and inspection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921446690.8U CN210404550U (en) | 2019-09-02 | 2019-09-02 | Inspection robot and inspection system |
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| CN210404550U true CN210404550U (en) | 2020-04-24 |
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| CN201921446690.8U Active CN210404550U (en) | 2019-09-02 | 2019-09-02 | Inspection robot and inspection system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113237887A (en) * | 2021-04-29 | 2021-08-10 | 北京送变电有限公司 | Auxiliary device for checking and accepting conducting wire |
| CN114387699A (en) * | 2022-01-20 | 2022-04-22 | 汇海电工有限公司 | Iron tower inspection robot and working method thereof |
-
2019
- 2019-09-02 CN CN201921446690.8U patent/CN210404550U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113237887A (en) * | 2021-04-29 | 2021-08-10 | 北京送变电有限公司 | Auxiliary device for checking and accepting conducting wire |
| CN114387699A (en) * | 2022-01-20 | 2022-04-22 | 汇海电工有限公司 | Iron tower inspection robot and working method thereof |
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